The Experts below are selected from a list of 180 Experts worldwide ranked by ideXlab platform

Steven M. Lavalle - One of the best experts on this subject based on the ideXlab platform.

  • A motion strategy for exploration driven by an automaton activating feedback-based controllers
    Autonomous Robots, 2019
    Co-Authors: Edgar Martinez, Guillermo Laguna, Hector M. Becerra, Rigoberto Lopez-padilla, Rafael Murrieta-cid, Steven M. Lavalle
    Abstract:

    This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. To explore the environment, the robot follows the environment boundary. In the first part of this paper, we propose a motion policy based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed motion policy is based on the paradigm of avoiding the state estimation; there is a direct mapping from observation to control. We present the theoretical conditions guaranteeing that the robot discovers the largest possible region of the environment. In the second part of the paper, we propose an automaton that filters spurious observations to activate feedback-based controllers. We propose a practical control scheme whose objective is to maintain a desired distance between the robot and the boundary of the environment. The approach is able to deal with imprecise robot’s observations and controls, and to take into account variations in the robot’s velocities. The control scheme switches controllers according to observations obtained from the robots sensor. Our control scheme aims to maintain the continuity of angular and linear velocities of the robot in spite of the switching between controllers. All the proposed techniques have been implemented and both simulations and experiments in a real robot are presented.

  • ICRA - Exploration of an unknown environment with a differential drive disc robot
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Guillermo Laguna, Rafael Murrieta-cid, Hector M. Becerra, Rigoberto Lopez-padilla, Steven M. Lavalle
    Abstract:

    This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. A saliency object (i.e. a landmark) is located in the environment. The collision-free subset of the robot's configuration space is simply connected or it might have several connected compo- nents. The robot is a differential drive system shaped as a disc. The robot has limited sensing, namely it is incapable of measuring any distance or angle, or performing self local- ization. The exploration problem consists in discovering the environment with the robot's sensor. To solve this problem, a motion policy is developed based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed exploration strategy guarantees that the robot will discover the largest possible region of the environment. Consequently, the robot will find the landmark or declare that an exploration strategy to find it does not exist.

  • Exploration of an unknown environment with a differential drive disc robot
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Guillermo Laguna, Rafael Murrieta-cid, Hector M. Becerra, Rigoberto Lopez-padilla, Steven M. Lavalle
    Abstract:

    This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. A saliency object (i.e. a landmark) is located in the environment. The collision-free subset of the robot's configuration space is simply connected or it might have several connected components. The robot is a differential drive system shaped as a disc. The robot has limited sensing, namely it is incapable of measuring any distance or angle, or performing self localization. The exploration problem consists in discovering the environment with the robot's sensor. To solve this problem, a motion policy is developed based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed exploration strategy guarantees that the robot will discover the largest possible region of the environment. Consequently, the robot will find the landmark or declare that an exploration strategy to find it does not exist.

R. M. Edwards - One of the best experts on this subject based on the ideXlab platform.

D.l. Dill - One of the best experts on this subject based on the ideXlab platform.

  • ICCAD - Unifying synchronous/asynchronous state Machine synthesis
    Proceedings of 1993 International Conference on Computer Aided Design (ICCAD), 1993
    Co-Authors: D.l. Dill
    Abstract:

    We present a design style and synthesis algorithm that encompasses both asynchronous and synchronous state Machines. Our proposed design style not only supports generalized "burst-mode" multiple-input change asynchronous designs, but also allows the automatic synthesis of any synchronous Moore Machine using only basic gates (and not state-holding elements). Moreover, the synthesis method covers many circuit styles in the range between burst-mode and fully synchronous. We can easily specify and synthesize sequential circuits which change state on both rising and falling clock edges, have multiple-phase clocks, etc., and mixed synchronous/asynchronous designs, subject only to setup and hold-time constraints. To demonstrate the effectiveness of the design style and the synthesis tool, we present a modified version of a previously published large practical controller design - the SCSI data transfer controller redesigned to improve performance and to eliminate preprocessing circuit for converting "level-sensitive" signals to "edge-sensitive" signals, often a cumbersome manual design process, by interfacing directly with "level-sensitive" signals.

  • Unifying synchronous/asynchronous state Machine synthesis
    Proceedings of 1993 International Conference on Computer Aided Design (ICCAD), 1993
    Co-Authors: D.l. Dill
    Abstract:

    We present a design style and synthesis algorithm that encompasses both asynchronous and synchronous state Machines. Our proposed design style not only supports generalized "burst-mode" multiple-input change asynchronous designs, but also allows the automatic synthesis of any synchronous Moore Machine using only basic gates (and not state-holding elements). Moreover, the synthesis method covers many circuit styles in the range between burst-mode and fully synchronous. We can easily specify and synthesize sequential circuits which change state on both rising and falling clock edges, have multiple-phase clocks, etc., and mixed synchronous/asynchronous designs, subject only to setup and hold-time constraints. To demonstrate the effectiveness of the design style and the synthesis tool, we present a modified version of a previously published large practical controller design - the SCSI data transfer controller redesigned to improve performance and to eliminate preprocessing circuit for converting "level-sensitive" signals to "edge-sensitive" signals, often a cumbersome manual design process, by interfacing directly with "level-sensitive" signals.

Guillermo Laguna - One of the best experts on this subject based on the ideXlab platform.

  • A motion strategy for exploration driven by an automaton activating feedback-based controllers
    Autonomous Robots, 2019
    Co-Authors: Edgar Martinez, Guillermo Laguna, Hector M. Becerra, Rigoberto Lopez-padilla, Rafael Murrieta-cid, Steven M. Lavalle
    Abstract:

    This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. To explore the environment, the robot follows the environment boundary. In the first part of this paper, we propose a motion policy based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed motion policy is based on the paradigm of avoiding the state estimation; there is a direct mapping from observation to control. We present the theoretical conditions guaranteeing that the robot discovers the largest possible region of the environment. In the second part of the paper, we propose an automaton that filters spurious observations to activate feedback-based controllers. We propose a practical control scheme whose objective is to maintain a desired distance between the robot and the boundary of the environment. The approach is able to deal with imprecise robot’s observations and controls, and to take into account variations in the robot’s velocities. The control scheme switches controllers according to observations obtained from the robots sensor. Our control scheme aims to maintain the continuity of angular and linear velocities of the robot in spite of the switching between controllers. All the proposed techniques have been implemented and both simulations and experiments in a real robot are presented.

  • ICRA - Exploration of an unknown environment with a differential drive disc robot
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Guillermo Laguna, Rafael Murrieta-cid, Hector M. Becerra, Rigoberto Lopez-padilla, Steven M. Lavalle
    Abstract:

    This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. A saliency object (i.e. a landmark) is located in the environment. The collision-free subset of the robot's configuration space is simply connected or it might have several connected compo- nents. The robot is a differential drive system shaped as a disc. The robot has limited sensing, namely it is incapable of measuring any distance or angle, or performing self local- ization. The exploration problem consists in discovering the environment with the robot's sensor. To solve this problem, a motion policy is developed based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed exploration strategy guarantees that the robot will discover the largest possible region of the environment. Consequently, the robot will find the landmark or declare that an exploration strategy to find it does not exist.

  • Exploration of an unknown environment with a differential drive disc robot
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Guillermo Laguna, Rafael Murrieta-cid, Hector M. Becerra, Rigoberto Lopez-padilla, Steven M. Lavalle
    Abstract:

    This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. A saliency object (i.e. a landmark) is located in the environment. The collision-free subset of the robot's configuration space is simply connected or it might have several connected components. The robot is a differential drive system shaped as a disc. The robot has limited sensing, namely it is incapable of measuring any distance or angle, or performing self localization. The exploration problem consists in discovering the environment with the robot's sensor. To solve this problem, a motion policy is developed based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed exploration strategy guarantees that the robot will discover the largest possible region of the environment. Consequently, the robot will find the landmark or declare that an exploration strategy to find it does not exist.

Ichiro Hasuo - One of the best experts on this subject based on the ideXlab platform.

  • HSCC - Moore-Machine filtering for timed and untimed pattern matching: poster abstract
    Proceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and Control, 2019
    Co-Authors: Masaki Waga, Ichiro Hasuo
    Abstract:

    Monitoring and (Timed) Pattern Matching. The complexity of cyber-physical systems (CPS) has been rapidly growing, due to increasingly advanced digital control that realizes not only enhanced efficiency (e.g. in cars' fuel consumption) but also totally new functionalities such as automatic driving. Getting those systems right is therefore a problem that is as important, and as challenging, as ever.

  • Moore Machine filtering for timed and untimed pattern matching poster abstract
    ACM International Conference Hybrid Systems: Computation and Control, 2019
    Co-Authors: Masaki Waga, Ichiro Hasuo
    Abstract:

    Monitoring and (Timed) Pattern Matching. The complexity of cyber-physical systems (CPS) has been rapidly growing, due to increasingly advanced digital control that realizes not only enhanced efficiency (e.g. in cars' fuel consumption) but also totally new functionalities such as automatic driving. Getting those systems right is therefore a problem that is as important, and as challenging, as ever.

  • Moore-Machine Filtering for Timed and Untimed Pattern Matching
    IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 2018
    Co-Authors: Masaki Waga, Ichiro Hasuo
    Abstract:

    Monitoring is an important body of techniques in runtime verification of real-time, embedded, and cyber-physical systems. Mathematically, the monitoring problem can be formalized as a pattern matching problem against a pattern automaton. Motivated by the needs in embedded applications-especially the limited channel capacity between a sensor unit and a processor that monitors-we pursue the idea of filtering as preprocessing for monitoring. Technically, for a given pattern automaton, we present a construction of a Moore Machine that works as a filter. The construction is automata-theoretic, and we find the use of Moore Machines particularly suited for embedded applications, not only because their sequential operation is relatively cheap but also because they are amenable to hardware acceleration by dedicated circuits. We prove soundness (i.e., absence of lost matches), too. We work in two settings: in the untimed one, a pattern is an NFA; in the timed one, a pattern is a timed automaton. The extension of our untimed construction to the timed setting is technically involved, but our experiments demonstrate its practical benefits.